Articulating joint for surgical instruments

ABSTRACT

A surgical apparatus is disclosed. An actuation mechanism is operable from a proximal portion of the surgical apparatus and a tool assembly is pivotally positioned on a distal portion of the surgical apparatus. The tool assembly is movable between a first position in which the tool assembly is substantially aligned with a longitudinal axis of the surgical apparatus, and a second position in which the tool assembly is pivoted away from the longitudinal axis of the surgical apparatus. An articulation mechanism is positionable to move the tool assembly between the first and second positions. A drive mechanism includes a first shaft operably engaged with a second shaft at an articulation joint. The drive mechanism is configured to transfer rotational motion from the first shaft to the second shaft.

BACKGROUND

1. Technical Field

The present disclosure relates to surgical instruments and, moreparticularly, to surgical instruments for use in laparoscopic andendoscopic procedures having an articulating joint.

2. Background of Related Art

Laparoscopic and endoscopic surgical procedures are minimally invasiveprocedures in which operations are carried out within the body by meansof elongated instruments inserted through small entrance openings in thebody. In minimally invasive procedures, the initial opening in the bodytissue to allow passage of instruments to the interior of the body maybe a natural passageway of the body (e.g. mouth or anus) or it can becreated by a tissue piercing instrument such as a trocar. With the aidof a cannula assembly inserted into the opening, laparoscopic orendoscopic instrumentation may then be used to perform desired surgicalprocedures.

Because endoscopic and laparoscopic tubes, instrumentation, and anyrequired punctures or incisions are relatively narrow, endoscopic andlaparoscopic surgery is less invasive and causes much less trauma to thepatient as compared to procedures in which the surgeon is required tocut open large areas of body tissue. Laparoscopic and endoscopicprocedures often require the surgeon to operate on organs, tissues, andvessels far removed from the incision. Thus, instruments used in theseprocedures are long and narrow, and must be functionally controllablefrom one end thereof. Mechanical actuation of such instruments isgenerally constrained to the movement of the various components along alongitudinal axis formed by the endoscopic portion instrument.

Conventional laparoscopic and endoscopic instruments include a handleassembly, an elongated member extending from the handle assembly and atool assembly mounted on the distal end of the elongated member. Thetool assembly may form graspers, forceps, vessel sealers, surgicalstaplers, clip appliers and the like. The handle assembly may beconfigured with a trigger for manual actuation of the tool assembly ormay include a powered actuation assembly. Depending on the design of theinstrument, actuation of the handle assembly may either cause a rod tolongitudinally traverse the elongated member thereby actuating the toolassembly mounted on the distal end. Alternatively, the actuation of thehandle assembly may cause rotation of a drive shaft extending the lengthof the elongated member. Both methods of transferring the actuationforce from the handle assembly to the tool assembly are known in theart.

Commonly owned U.S. Pat. No. 5,653,374 to Young et al., the disclosureof which is hereby incorporated by reference herein in its entirety,discloses a surgical stapler for use in endoscope procedures thatutilizes a rotating drive shaft to transfer the actuation force from thehandle assembly to the tool assembly, in this case, a stapler. Actuationof the motorized handle assembly causes the rotation of the drive shaftwithin the elongated body member. The drive shaft is configured suchthat rotation of the shaft causes actuation of the stapling assemblylocated on the distal end of the elongated body member.

Commonly owned U.S. Pat. No. 5,830,221 to Stein et al., the disclosureof which is hereby incorporated by reference herein in its entirety,discloses an endoscopic instrument for applying fasteners having atrigger for manual actuation of the handle assembly. Squeezing of thetrigger causes rotational motion of a drive shaft which in turn actuatesthe tool assembly, a fastener dispensing distal end.

Endoscopic and laparoscopic procedures are performed on tissue withinthe body cavity that may be difficult to access. Whether obstructed bybone, organs and other tissue, or simply the configuration of the bodycavity, accessing tissue using conventional endoscopic or laparoscopicinstruments can be challenging. Manipulating a tool assembly located onthe distal end of a rigid shaft can prove challenging. To address thisproblem and overcome the inability to access difficult to reach tissue,endoscopic and laparoscopic instruments have been developed with anarticulating joint which enables a tool assembly mounted on the distalend of an elongated member to be articulated. Commonly owned U.S. Pat.No. 5,690,269 to Bolanos et al., incorporated by reference herein in itsentirety, discloses an endoscopic stapler having an articulatingstapling assembly.

Therefore, it would be beneficial to have an endoscopic surgicalinstrument including an articulating joint for articulating a toolassembly mounted on the distal end thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the presently disclosed surgical instrument having anarticulating joint are described herein with reference to the drawings,wherein:

FIG. 1 is a perspective view of a surgical instrument according to anembodiment of the present disclosure;

FIG. 2 is a cross-sectional side view of the handle assembly of thesurgical instrument of FIG. 1;

FIG. 3 is an exploded perspective view of the endoscopic portion of thesurgical instrument of FIG. 1;

FIG. 4 is a partial cut away top view of the endoscopic portion of thesurgical instrument of FIG. 1;

FIG. 5A is an enlarged perspective view of the articulation gears of theinstrument of FIG. 4;

FIG. 5B is an enlarged partial cross-sectional side view of the driveshaft of the instrument of FIG. 4;

FIG. 5C is a cross-sectional end view of the drive shaft of FIG. 5Btaken along section line 5C-5C;

FIG. 6 is an exploded perspective view of the stapling assembly of thesurgical instrument of FIG. 1;

FIG. 7A-C are cross-sectional side views of the stapling assembly ofFIG. 6 in a first or open position (A), a second, partially actuatedposition (B), and in a third, fully actuated position (C);

FIG. 8A is a partial cut away top view of an articulating shaftaccording to an alternate embodiment of the present disclosure; and

FIG. 8B is a cross-sectional view taken along section line 8B-8B of FIG.8A.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments of the presently disclosed surgical instrument will now bedescribed in detail with reference to the drawings, in which likereference numerals designate identical or corresponding elements in eachof the several views. As used herein, the term “distal” refers to thatportion of the instrument, or component thereof which is further fromthe user while the term “proximal” refers to that portion of theinstrument or component thereof which is closer to the user.

The articulation mechanism of the present disclosure may be incorporatedinto any number of surgical devices including but not limited to clipappliers, vessel sealers, forceps/graspers, cutting tools, surgicalstaplers or fasteners, and the like. To better understand the operationof the present embodiments, this disclosure will describe thearticulation mechanism as it relates to a surgical apparatus forapplying surgical staples or a surgical stapler. It is understood thatreference to a surgical stapler is by no means limiting and that theembodiments of the present disclosure may be incorporated into clipappliers, vessel sealers, forceps/graspers, cutting tools, and the like.

The presently disclosed surgical apparatus is illustrated in FIGS. 1-7Band is shown generally as surgical stapler 100. Surgical stapler 100includes a handle assembly 110, an endoscopic portion 120 and a toolassembly 140. Endoscopic portion 120 extends from handle assembly 110and includes an articulation joint 130. Tool assembly 140 is operablyconnected to the distal end of endoscopic portion 120. Handle assembly110 functions to open and close tool assembly 140. As shown by arrowsA-D, and as will be described in further detail below, endoscopicportion 120 may be articulated at articulation joint 130 (arrow D) bymanipulating an articulation knob 128 along endoscopic portion 120 inthe direction of arrow A. Endoscopic portion 120 may also be rotatedaround axis X-X relative to handle assembly 110 (arrow B) bymanipulating a rotation knob 121 in the direction of arrow C.

Handle assembly 110 is configured for operable engagement by a user,preferably with a single hand. Handle assembly 110 includes a housing112 which may be formed as two separate housings 112 a, 112 b. Handleassembly 110 further includes a fixed handle portion 114 extending fromhousing 112. A trigger 116 is pivotally mounted to housing 112.Squeezing of trigger 116 towards fixed handle portion 114 operates toturn a drive shaft 65 (FIG. 2) in a first direction, thereby actuatingtool assembly 140 positioned at the distal end of articulating shaft120, as will be described in further detail below. Release of trigger116 operates to turn drive shaft 65 in an opposite or second direction,thereby reversing or deactuating tool assembly 140.

Now referring to FIG. 2, hand assembly 110 further includes a couplingmechanism 50 and a drive assembly 60. Coupling mechanism 50 includes agear member 52 operably connected to trigger 116, a trigger gear 54operably engaged with gear member 52 and an idler gear 56. Driveassembly 60 operably couples coupling mechanism 50 and drive shaft 65.Drive assembly 60 is configured to convert the longitudinal motioncreated by the squeezing of trigger 116 and the actuation of couplingmechanism 50 into a rotational motion of drive shaft 65. Drive assembly60 includes a drive gear 62, a first beveled gear 64, and a secondbeveled gear 66. Drive gear 62 of drive assembly 60 engages idler gear56 of coupling mechanism 50. Rotation of drive gear 62 causes rotationof first beveled gear 64. First beveled gear 64 is configured to engagesecond beveled gear 66. As shown, second beveled gear 66 is orientedperpendicularly to first beveled gear 64. Thus, second beveled gear 66rotates around longitudinal axis X-X.

In operation, trigger 116 is squeezed towards fixed handle portion 114(arrow A) causing gear portion 52 to move relative to trigger gear 54.Movement of gear portion 52 (arrow B) causes engagement with triggergear 54, thereby rotating trigger gear 54 and attached idler gear 56 ina first or clockwise longitudinal direction (arrow C). Engagement ofdrive gear 62 with idler gear 56 causes rotation of drive gear 62 andattached first beveled gear 64 in a second or counterclockwiselongitudinal direction (arrow D). Rotation of first beveled gear 64causes rotation of second beveled gear 66 in a first clockwise axialdirection (arrow E), thereby causing rotation of drive shaft 65 in afirst axial direction. A spring 114 a mounted within fixed handle 114 isconfigured to bias trigger 116 to its original position upon thereof.

Release of trigger 116 causes rotation of trigger gear 54 and attachedidler gear 56 in a second counterclockwise direction. Rotation of idlergear 56 in the second direction causes rotation of drive gear 62 andfirst beveled gear 64 in the first or clockwise direction. Rotation offirst beveled gear 64 causes rotation of second beveled gear 66 andconnected drive shaft 65 in a second counterclockwise axial direction.By varying the configuration of trigger 116 and the length of gearportion 52 the amount of rotation of drive shaft 65 may be controlled.The rotation of drive shaft 65 may also be affected by varying the sizeof the gears disposed between trigger 116 and drive shaft 65. Dependingon the configuration of tool assembly 140, e.g. forceps, grasper,stapler, clip applier, drive shaft 65 may be rotated more or less persqueeze of trigger 116. In an alternate embodiment, coupling mechanism50 may be configured to prevent rotation of drive shaft 65. In thismanner, coupling mechanism 50 may include a pawl or lever for lockingtrigger 116 in position at various stages of actuation, and thus preventrotation of drive shaft 65. Gear portion 52 may be configured as a pawlfor engaging and disengaging trigger gear 54 at different stages.

As noted above, handle assemblies that produce a rotation drive shaftare known in the art, and the aspects of the present disclosure are notlimited to the above described manual pistol grip instrument. Commonlyowned U.S. Pat. No. 5,653,374 to Young et al. discloses surgical staplerhaving a motorized handle assembly. It is envisioned that the aspects ofthe present disclosed articulation mechanism may be incorporated intoany handle assembly which relies on rotation of a drive shaft foractuation of a tool assembly.

Referring now to FIGS. 3 and 4, endoscopic portion 120 is configured anddimensioned to be inserted into and through a cannula or other narrowopening. Endoscopic portion 120 includes an elongated portion 122, anarticulation portion 124, articulation joint 130 located therebetween,and an articulation mechanism 126 for effecting articulation atarticulation joint 130. Articulation joint 130 is configured formanipulating tool assembly 140 (FIGS. 6A-6C) mounted on the distal endof articulation portion 124. Elongated portion 122 includes first andsecond elongated members 122 a, 122 b. Rotation knob 121 is formed at aproximal end of elongated portion 122 and is configured for rotatableengagement with handle assembly 110. Rotation knob 121 may be knurled,grooved, or have other outer surface to configurations facilitategrasping thereof. Rotation knob 121 permits a surgeon to rotateendoscopic portion 120 and tool assembly 140 relative to handle assembly110. Articulation portion 124 includes first and second articulationmembers 124 a, 124 b. Elongated portion 122 is pivotally connected toarticulation portion 124 by pivot pins 123.

Articulation mechanism 126 permits the articulation of articulationportion 124 relative to elongated portion 122 at articulation joint 130.Articulation mechanism 126 includes an articulation rod 127 and anarticulation knob 128. Articulation rod 127 includes a first distal end127 a forming a loop for engaging a pin 131 formed on articulationportion 124. Articulation rod 127 extends from articulation portion 124,through articulation joint 130 and into elongated member 122.Articulation rod 127 terminates in a hook 127 b. Hook 127 b extendsthrough a slot 132 formed in first elongated member 122 a and engagesarticulation knob 128. Articulation knob 128 is slidably mounted aboutelongated member 122. Proximal movement of articulation knob 128 causesarticulation portion 124 of endoscopic portion 120 and tool assembly140, shown in phantom (FIG. 1), to deflect at articulation joint 130away from central axis X-X (arrows A and D). Frictional engagement ofarticulation knob 128 with elongated portion 122 prevents articulationjoint 130 from over articulating or straightening out. Arrows C and Bdepict rotational movement of endoscopic portion 120 and distal portionsof surgical stapler 100 which can be achieved by rotating rotation knob121.

Referring now to FIG. 4, articulation is achieved by pullingarticulating knob 128 in a proximal direction (arrow A). This proximalmovement causes articulating rod 127 to pull on articulation joint 130at pin 131. When articulated, axis X′-X′ of tool assembly 140 andarticulation joint 130 moves away from axis X-X formed bynon-articulating endoscopic portion 120. Tool assembly 140 of surgicalstapler 100 may be articulated such that stapling occurs along axisX′-X′. Surgical stapler 100 may be configured such that elongatedportion 122 and articulation portion 124 move relative to one another indiscrete stops of angular position. Elongated portion 122 may includegrooves or indents that enable articulation knob 128 to be selectivelypositioned about elongated portion 122, thereby selectively positionarticulation portion 124 at discrete angles relative to elongatedportion 122. Surgical stapler 100 may instead be configured to allowcontinuous variable angles between elongated portion 122 andarticulating portion 124 ranging from about 0° to about 90°.

Drive shaft 65 is rotatably mounted within elongated portion 122.Proximal end 65 a of drive shaft 65 is operably connected to secondbeveled gear 66 located within handle assembly 110 (FIG. 2). Rotation ofsecond beveled gear 66 causes rotation of drive shaft 65. Distal end 65b of drive shaft 65 (FIG. 3) includes a first articulation gear 125.Drive shaft 65 may include an extension mechanism 166 (FIGS. 5B and 5C)configured for adjusting the length of drive shaft 65 duringarticulation of articulation mechanism 130. As will be described below,articulation portion 124 and tool assembly 140 include a drive screw 150rotatably mounted therein. Drive screw 150 includes a secondarticulation gear 155 formed on the proximal end thereof. First andsecond articulation gears 125, 155 have a plurality of teeth in acircular or semi-circular arrangement and may have a castle-turret-likeshape. However, it is envisioned that any gear configuration capable ofremaining engaged through a 90° articulation has been contemplated bythis disclosure. Each of first and second articulation gears 125, 155include a plurality of rounded teeth 125 a, 155 a, respectively,configured to engage one another through a 90° articulation ofarticulating portion 124.

When elongated portion 122 and articulation portion 124 are aligned,teeth 125 a of first articulation gear 125 completely engage teeth 155 aof second articulation gear 155. Squeezing of trigger 116 causes axialrotation of shaft 65 as described above. Axial rotation of shaft 65, andthus articulating gear 125 mounted thereon, along axis X-X, causes axialrotation of second articulation gear 155, and thus, rotation of screwdrive 150, also along axis X-X. As endoscopic portion 120 isarticulated, first and second articulation gears 125, 155 move angularlyrelative to one another, and fewer of teeth 125 a, 125 b remain engaged(FIG. 5A). At 90° of articulation between elongated portion 122 andarticulating portion 124, first and second articulation gears 125, 155and, thus teeth 125 a, 155 b, are perpendicular to one another.

At complete articulation, rotation of articulating gear 125 in a firstcounter-clockwise direction cause rotation of second articulation gear155 in a second counter-clockwise direction. One complete rotation offirst articulation gear 125 causes one complete rotation of secondarticulation gear 155. In this configuration as few as one tooth 125 a,115 a on each first and second articulation gears 125, 155,respectively, may be engaged at one time. As first articulation gear 125rotates the number of teeth 125 a thereon engaged with teeth 155 a ofsecond articulation 155 remains constant, while the particular teeth 125a, 155 a that are actually engaged changes. As one of teeth 115 adisengages from one of teeth 125 a a second of teeth 155 a is engaged toa second of teeth 125 a. One complete rotation of first and secondarticulation gears 125, 155 will cause the engagement and disengagementof each of teeth 125 a, 155 a.

By including an extension mechanism 166 in drive shaft 65, the length ofdrive shaft 65 may be extended or contracted as necessary to accommodatethe articulation of articulation joint 130 and to ensure firstarticulation gear 125 remains engaged with second articulation gear 155throughout articulation. In this manner, at least one tooth of teeth 125a formed on first articulation gear 125 may remain fully engaged with atleast one tooth of teeth 155 a.

Extension mechanism 166 includes a receiving end 168, an insertion end169 and spring 166 a. Receiving end 168 is slideably received withininsertion end 169. Receiving end 169 may include tab or raised portion169 a for engagement with a notch or groove 168 a of insertion end 168.Spring 166 a is positioned between the proximal end of insertion end 169and an inner end surface of receiving end 168. Spring 166 a isconfigured such that when endoscopic portion 120 of surgical stapler 100is in a first or aligned position, spring 166 a is slightly biased. Inthis manner, release of pressure on distal end of drive shaft 65 causesextension mechanism 166 to extend.

In the present embodiment, tool assembly 140 comprises a staplingassembly. As discussed above, the aspects of the present disclosure canbe incorporated into any tool assembly that can be actuated byrotational motion of a drive shaft. Tool assembly 140 may insteadcomprise a clip applier, graspers and forceps, vessel sealer, or thelike.

Briefly, and with reference to FIGS. 6-7 c, tool assembly 140 includes abase member 142, a staple cartridge 144, an anvil 146, a camming beam148, camming bars 149, and a drive screw 150. Base member 142 extendsfrom within articulating portion 124. Base member 142 is configured toreceive staple cartridge 144 in the distal end thereof. Base member 142is further configured for slideably receiving camming bars 149. Anvil146 is configured to be positioned above staple cartridge 144 and toreceive tissue “T” therebetween.

Drive screw 150 is rotatably mounted within base 142 and articulationportion 124. Proximal end 150 a of drive screw 150 include a secondarticulation gear 155 configured for engagement with first articulationgear 125. Distal end 150 b of drive screw 150 includes a threadedportion for receiving a support member 152. Support member 152 isconfigured to longitudinally traverse threaded portion 150 b of drivescrew 150 upon rotation thereof. Rotation of drive screw 150 in a firstdirection causes support member 152 to distally traverse screw 150,while rotation in a second direction causes proximal movement of supportmember 152.

Camming beam 148 and camming bars 149 are configured such that assupport member 152 traverses distally beam 148 and bars 149 alsotraverse distally. Camming beam 148 is configured to engage staplecartridge 144 and anvil 146 as drive screw 150 rotates in a firstdirection and distally advances support member 152 (FIGS. 7B and 7C). Atthe same time camming bars 149 interact with staple pushers 153 to ejectstaples from cartridge assembly 144. Rotation of drive screw 150 in asecond direction proximally retracts support member 152, therebydisengaging camming beam 148 from staple cartridge 144 and anvil 146.

In operation, endoscopic portion 120 of surgical stapler 100 is insertedthrough a cannula or other opening in the body. Once endoscopic portion120 is positioned within the body cavity, tool assembly 140 mounted onthe distal end of articulation portion 124 may be manipulated intoposition using rotation knob 121 and articulation knob 128. As describedabove, rotation knob 121 may rotate tool assembly 140 three-hundred andsixty degrees (360°) relative to handle assembly 110, and because of theconfiguration of articulation joint 130, proximal movement ofarticulation knob 128 may articulate endoscopic portion 120 to any angleup to, and including, ninety degrees (90°). Tool assembly 140 may beactuated at any and all angles up to and including 90°. Tool assembly140 may be actuated as articulation joint 130 is articulated.

Referring now to FIGS. 8A and 8B, an alternate embodiment of the presentdisclosure is shown generally as articulation joint 230. Articulationjoint 230 is substantially similar to articulation joint 130.Articulation joint 230 includes elongated portion 222, articulationportion 224 and articulation rod 227. Proximal end 227 b of articulationrod 227 is secured to articulation knob 228. Distal end 227 a ofarticulation rod 227 forms a hook for securely engaging articulationportion 224. Movement of articulation knob 228 in a distal directioncauses articulation of articulation joint 230. Return of articulationknob 228 to its original position causes the straightening ofarticulation joint 230.

In further embodiments, the camming bars 149 are replaced with a sledhaving one or more cam wedges integrally formed. The advancement of thecamming beam 148 drives the sled forwardly through the staple cartridge144. The length of the camming beam 148 may be shortened. The sled maybe as disclosed in commonly owned U.S. Pat. No. 5,865,361 to Milliman,et al., the disclosure of which is hereby incorporated by referenceherein in its entirety. In the '361 patent, actuation sled 234 is shownin FIG. 21.

In further embodiments, a motorized handle assembly is used to rotatedrive shaft 65. The motorized handle assembly may be as described inU.S. patent application Ser. No. 11/786,934, filed Apr. 13, 2007,entitled “Power Surgical Instrument,” the disclosure of which is herebyincorporated by reference herein in its entirety.

It will be understood that various modifications may be made to theembodiments disclosed herein. For example, the components of thesurgical apparatus can be formed of any material suitable for surgicaluse and having the required strength characteristics. Therefore, theabove description should not be construed as limiting, but merely asexemplifications of the disclosed embodiments. Those skilled in the artwill envision other modifications within the scope and spirit of theclaims appended hereto.

What is claimed is:
 1. A surgical apparatus comprising: an actuationmechanism comprising an actuation shaft operable from a proximal portionof the surgical apparatus; a tool assembly pivotally positioned on adistal portion of the surgical apparatus at an articulation joint andbeing movable between a first position wherein the tool assembly issubstantially aligned with a longitudinal axis of the surgicalapparatus, and a second position wherein the tool assembly is pivotedaway from the longitudinal axis of the surgical apparatus; anarticulation mechanism positionable to move the tool assembly betweenthe first and second positions; and a drive mechanism operablyassociated with the actuation mechanism, the drive mechanism including afirst shaft operably engaged with a second shaft at the articulationjoint, wherein the drive mechanism is configured to transfer rotationalmotion from the first shaft to the second shaft in the first and secondpositions of the tool assembly to cause at least the forming of staplesin the tool assembly, wherein upon actuation of the actuation shaft, thefirst and second shafts are configured to rotate about the longitudinalaxis in the same direction, the articulation joint allowing the firstshaft to pivot with respect to the second shaft.
 2. The surgicalapparatus of claim 1, wherein the first shaft includes a drive shafthaving a first gear at a distal end thereof.
 3. The surgical apparatusof claim 2, further comprising an extension mechanism for moving thedrive shaft distally as the tool assembly is moved from the firstposition.
 4. The surgical apparatus of claim 3, wherein the extensionmechanism includes a spring engaged with a first portion and a secondportion of the drive shaft.
 5. The surgical apparatus of claim 2,wherein the actuation mechanism include a movable handle and a gearattached to the drive shaft for rotation of the drive shaft.
 6. Thesurgical apparatus of claim 2, wherein the articulation joint includesthe first gear and a second gear engaged with the first gear.
 7. Thesurgical apparatus of claim 6, wherein the second shaft includes a drivescrew, the drive screw having the second gear at a proximal end thereof.8. The surgical apparatus of claim 7, further comprising a camming beamassembly threadably engaged with the drive screw.
 9. The surgicalapparatus of claim 8, further comprising at least one cam wedge arrangedfor advancement by the camming beam.
 10. The surgical apparatus of claim6, wherein the drive mechanism advances at least one cam wedge through astaple cartridge.
 11. The surgical apparatus of claim 6, wherein thefirst and second gears are substantially similar.
 12. The surgicalapparatus of claim 1, wherein the actuation mechanism includes a motor.13. The surgical apparatus of claim 1, wherein the first shaft has aplurality of first teeth in a circular configuration and a plurality ofsecond teeth in a circular configuration, the first teeth being engagedwith the second teeth to transfer the rotation motion.
 14. The surgicalapparatus of claim 1, wherein the tool assembly includes a surgicalstapling cartridge.
 15. The surgical apparatus of claim 1, wherein thetool assembly includes a sled with one or more cam wedges.
 16. Thesurgical apparatus of claim 1, wherein the first shaft extends along thelongitudinal axis of the surgical apparatus.
 17. The surgical apparatusof claim 1, wherein the first and second shafts extend along thelongitudinal axis when the tool assembly is in a first position.
 18. Thesurgical apparatus of claim 1, wherein the rotational motion from thefirst shaft to the second shaft further causes the stapling of tissue.19. The surgical apparatus of claim 1, wherein the first shaft pivotsrelative to the second shaft during articulation of the tool assembly.20. A surgical apparatus comprising: an actuation mechanism operablefrom a proximal portion of the surgical apparatus; a tool assemblypivotally positioned on a distal portion of the surgical apparatus at anarticulation joint and being movable between a first position whereinthe tool assembly is substantially aligned with a longitudinal axis ofthe surgical apparatus, and a second position wherein the tool assemblyis pivoted away from the longitudinal axis of the surgical apparatus; anarticulation mechanism configured to move the tool assembly between thefirst and second positions; and a drive mechanism operably associatedwith the actuation mechanism and configured to actuate the toolassembly, the drive mechanism including a first shaft having a firstgear with a first plurality of teeth a second shaft having a second gearwith a second plurality of teeth, wherein at least one of the firstplurality of teeth of the first gear is in direct engagement with atleast one of the second plurality of teeth of the second gear at thearticulation joint, wherein the drive mechanism is configured totransfer rotational motion from the first shaft to the second shaft tocause at least the forming of staples in the tool assembly.
 21. Thesurgical apparatus of claim 20, wherein the drive mechanism transfersmotion from the first shaft to the second shaft when the tool assemblyis in a position other than the first position.
 22. The surgicalapparatus of claim 20, wherein the rotational motion from the firstshaft to the second shaft further causes the stapling of tissue.
 23. Thesurgical apparatus of claim 20, wherein the first shaft pivots relativeto the second shaft during articulation of the tool assembly.